added more functions for capture route

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -7,8 +7,16 @@ CaptureRoute::CaptureRoute(MoveControl* moveControl, Navigation* navigation)
 
 void CaptureRoute::loop() {
     ManualControl::loop();
+
+    if (millis() - this->last_millis < delay) {
+        return;
+    }
+    this->runCaptureRoute();
+    this->last_millis = millis();
 }
 
 void CaptureRoute::runCaptureRoute() {
-
+    if (Ps3.data.button.triangle) {
+        this->navigation->addCurrentPosToRoute();
+    }
 }

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -6,6 +6,7 @@
 #include "driveModi/Modi/ManualControl/manualControl.h"
 #include "navigation.h"
 
+
 class CaptureRoute : public ManualControl {
     public:
         CaptureRoute(MoveControl* moveControl, Navigation* navigation);
@@ -15,6 +16,9 @@ class CaptureRoute : public ManualControl {
 
     private:
         Navigation* navigation;
+
+        uint32_t last_millis = 0;
+        uint16_t delay = 200;
 };
 
 #endif // CAPTURE_ROUTE_H

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -22,12 +22,11 @@ ManualControl::~ManualControl() {
 }
 
 void ManualControl::loop() {
-    static uint32_t last_millis = 0;
-    if (millis() - last_millis < delay) {
+    if (millis() - this->last_millis < delay) {
         return;
     }
     this->runManualControl();
-    last_millis = millis();
+    this->last_millis = millis();
 }
 
 void ManualControl::runManualControl() {

src/driveModi/Modi/ManualControl/manualControl.h

@@ -11,8 +11,6 @@
 #ifndef MANUAL_CONTROL_H
 #define MANUAL_CONTROL_H
 
-#include <Ps3Controller.h>
-
 #include "moveControl.h"
 #include "driveModi/driveModi.h"
 
@@ -74,6 +72,7 @@ class ManualControl : public DriveModi{
     private:
         MoveControl *moveControl;
 
+        uint32_t last_millis = 0;
         uint8_t delay = 10;
         double max_speed = 1;
         double max_rotation = 7;